4 实验结果 Results

We evaluate LSD-SLAM both quantitatively on publicly available datasets [25, 12] as well as on challenging outdoor trajectories, recorded with a hand-held monocular camera.

我们一方面通过现有公开的（离线）数据集[25,12]，另一方面（自己）用手持单目相机录制室外大场景来获取相机轨迹，进行定量评估LSD-SLAM算法。

Some of the evaluated trajectories are shown in full in the supplementary video.

部分评估的相机轨迹（请参考）补充视频，其中有完整显示。